EP2373246B1 - Procédé de production de données d'image pour une représentation d'un instrument, ainsi que système correspondant - Google Patents

Procédé de production de données d'image pour une représentation d'un instrument, ainsi que système correspondant Download PDF

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Publication number
EP2373246B1
EP2373246B1 EP09798871.1A EP09798871A EP2373246B1 EP 2373246 B1 EP2373246 B1 EP 2373246B1 EP 09798871 A EP09798871 A EP 09798871A EP 2373246 B1 EP2373246 B1 EP 2373246B1
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EP
European Patent Office
Prior art keywords
instrument
measurement data
position measurement
plausibility
data
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EP09798871.1A
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German (de)
English (en)
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EP2373246A2 (fr
Inventor
Dirk Mucha
Bartosz Kosmecki
Timo Krueger
Sc. Horacio Martinez
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Charite Universitaetsmedizin Berlin
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Charite Universitaetsmedizin Berlin
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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00057—Operational features of endoscopes provided with means for testing or calibration
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
    • A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
    • A61B5/064—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2072—Reference field transducer attached to an instrument or patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0818—Redundant systems, e.g. using two independent measuring systems and comparing the signals
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/397—Markers, e.g. radio-opaque or breast lesions markers electromagnetic other than visible, e.g. microwave
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3983—Reference marker arrangements for use with image guided surgery

Definitions

  • the invention relates to a method for generating image data for a representation of an instrument, in particular a medical instrument, on a display device. Furthermore, the invention relates to a system for displaying an instrument and a computer program product.
  • the document EP 1 380 266 A1 discloses a system for monitoring the location of a medical instrument. Depending on the position of the instrument, previously recorded images of a patient's body are displayed on a display device. At the medical instrument several position sensors are arranged, with which the position and a change in position of the instrument are detected.
  • the object of the invention is to provide improved image data generation techniques for displaying an instrument on a display device, in particular, to improve the display's continuity and the reliability of the display.
  • a position sensor may be implemented as an electromagnetic sensor, such as a coil or a set of coils, but other devices capable of outputting location and / or position information are also possible.
  • a method is provided by means of which an instrument can be shown on a display device without a user of the instrument having to have direct visual contact with the instrument, and wherein the representation of the instrument is made at least on the basis of filtered position measurement data, that were filtered due to a state of motion.
  • a preferred embodiment of the invention provides that the detected position measurement data are formed on the basis of at least one current position measurement with currently acquired position measurement data.
  • data representing the current position of the instrument is present, for example in a controller, and can be processed.
  • the position measurement data are detected by means of several position measurements. This is made possible for example by means of a memory provided in a control device which is adapted to carry out the method.
  • the plurality of position measurements can be recorded, for example, within constant time intervals, so that there is a series of measurements of position measurements.
  • the invention provides that a plausibility value is formed on the basis of the acquired position measurement data.
  • At least two position sensors are provided.
  • Each of the position sensors disposed on the instrument is configured to output position measurement data from which a position of the instrument can be determined.
  • an instrument operating point can be determined by means of suitable transformations.
  • the evaluations of the position measurement data of all the position sensors arranged on the instrument lead to the same instrument operating point.
  • the field structure in the vicinity of this position sensor is changed so that a different instrument operating point is determined during the evaluation of the position measurement data of this position sensor than in the evaluation of the position measurement data of the largely undisturbed position sensor.
  • the amount of the distance between the two determined instrument operating points is called the plausibility value.
  • a large plausibility value thus means a large deviation of the specific instrument work items. An error caused in this way is called foreign interference.
  • the state of motion of the instrument is determined on the basis of the currently detected position measurement data and in the past acquired position measurement data.
  • Different movements of the instrument such as translations or rotations or combinations of these movements, which are carried out at high or low speed, can be evaluated and categorized in this way and finally assigned to a movement state.
  • a plausibility threshold value is assigned to each movement state. It is thus possible to set a plausibility threshold for further evaluation on the basis of past movements of the instrument.
  • a development of the invention provides that the filtering of the acquired position measurement data comprises a step for comparing the plausibility value and the plausibility threshold value. Since the plausibility value is influenced by a field disturbance by a conductive, for example metallic, body in the vicinity of one of the position sensors, and the Plausibility threshold are determined on the basis of the state of motion of the instrument, a movement of the instrument is considered in a disturbed field, so that these different sources of error can ultimately flow into the representation of the instrument on the display device.
  • a further development of the invention provides that the filtering of the acquired position measurement data comprises a step of accepting the acquired position measurement data in the event that the plausibility value is less than or equal to the plausibility threshold value, and a step of discarding the acquired position measurement data for the case, that the plausibility value is greater than the plausibility threshold. If, therefore, a plausibility value is greater than a plausibility threshold, the corresponding current situation is discarded and not displayed. In this way, confusing representations or display changes are avoided for a user.
  • the image data record is formed at least on the basis of the currently acquired position measurement data and the plausibility value. Based on the current position measurement data, the instrument operating point is determined, and the plausibility value is evaluated as the radius of a sphere described around the instrument operating point.
  • a further development of the invention provides that the external interference is determined on the basis of the plausibility value and the self-interference on the basis of the acquired position measurement data.
  • a disturbance is regarded as a foreign disturbance, which leads to a position measuring data sets of the position sensors by means of a conductive, for example metallic, object, on the basis of which differing instrument operating points are determined.
  • a self-disturbing movement such as positioning
  • the instrument is considered. This means that the measured instrument position is not affected or by insufficient calibration data.
  • a self-disturbance can also be a rotation of the instrument be. This means that the measured instrument position is affected by the rotational movement.
  • Self-interference may also include moving the instrument. This means that the measured instrument position is influenced by the translational movement.
  • the method according to the invention allows a user of an instrument a secure instrument guidance, even if he has no visual contact with the instrument.
  • the instrument may be, for example, a drill, guide wire, catheter, endoscope, biopsy needle, cutting instrument, or any other instrument, particularly in the medical field.
  • an at least one navigation module and a monitor comprehensive endoscopy system is provided, which is configured to provide at least one synchronized video and navigation information on the monitor, in particular endoscopy monitor.
  • the endoscopy system is configured to display on the monitor a video and navigation information synchronized based on the method described above.
  • the synchronization includes, for example, updating the sphere, as described above, around the instrument operating point, based on the plausibility value and the acquired position measurement data, to illustrate a measurement uncertainty.
  • the update of the representation can be based, for example, on an update of the image data set displayed in each case.
  • Fig. 1 shows an instrument 1, which is exemplified in the illustrated embodiment as a medical instrument and to which a locator 5 is fixed, on which two position sensors 7 and 9 are mounted.
  • the instrument 1 is provided with a tip 11 which represents the instrument operating point.
  • Local coordinate systems are assigned to the relevant points: A coordinate system 8 with origin 7 is assigned to the position sensor 7, the position sensor 9 is assigned a coordinate system 10 with origin 9 and the instrument operating point 11 is assigned a coordinate system 12 with origin 11.
  • the position sensors 7 and 9 detect an electromagnetic field generated by one or more field coils.
  • the measured values of the position sensors 7 and 9 are forwarded to a control device (not shown here).
  • the control device is configured to calculate a position of the local coordinate systems 8 and 10 from the position measurement data of the respective position sensor 7 and 9.
  • the position relates in particular to the location in a three-dimensional coordinate system as well as the orientation of the respective position sensor 7 or 9. From the known geometry of the instrument 1 can ideally from the position information of a single position sensor, the position of the instrument operating point 11, ie the origin and orientation of the Coordinate system 12, to be calculated.
  • Fig. 2 shows the instrument Fig. 1 , wherein the same reference numerals denote like components.
  • the object 12 is so disturbing that it is able to change the fields generated by the field coil or field coils, not shown, such that the from the position sensors 7 and 9 read out signals are evaluated in an undesirable manner.
  • Coordinate system 15 with an origin 14 supplies.
  • the deviation between the origins 16 and 14 of the coordinate systems 17 and 15 is referred to as d.
  • the amount of this vector d is called a plausibility value and will be used in the following.
  • the control unit of the evaluation logic is no information which of the position sensors is disturbed more. Therefore, the control unit is unable to decide which of the origin 14 or 17 originating coordinate systems 15 will better represent the instrument operating point.
  • the instrument tip is provided with a circle of a sphere whose diameter corresponds to the plausibility value, so that a user of such a system is able to decide on the basis of this screen presentation how accurate or inaccurate he is at the moment arranges the instrument in space.
  • Error detection examines the measured values at runtime in each measuring cycle.
  • the error detection should not be supported by a reference system optical or mechanical type, because it makes the system structure is unergonomic and costly.
  • the detected quantified noise should correlate sufficiently accurately with the actual position measurement error occurring at the instrument operating point. Sufficiently accurate here means that dynamic position measurement errors that exceed a maximum safety value of 2 mm are detected with a probability of 95%.
  • Measured values that are subjected to a dynamic position measurement error are processed further.
  • the further processing leads to the measured values being corrected or excluded for navigation or specially marked for display.
  • the class Foreign Disruption is treated as described above for risk minimization purposes. This means that at least one sphere of error is displayed around the instrument working point.
  • the class of the self-disturbance is again subdivided into states of motion. During the application of the navigated instrument, different states of motion occur. With each state of motion, an accuracy request is linked to the position shown.
  • Table 1 shows the defined state classes and Table 2 describes the requirements for the individual states of motion qualitatively. It follows from the accuracy requirement associated with each movement state that disturbances in dynamic processes, such as the movement of the instrument in the work space, have to be handled less strictly. It is said that the threshold for the risk class may be higher in the Move state. Thus, these self-disturbances are not filtered out.
  • a method for generating image data for a representation of an instrument, in particular a medical instrument, on a display device comprising the steps of: detecting position measurement data of at least a position sensor mounted on the instrument, determining a motion state of the instrument based on the acquired position measurement data, filtering the acquired position measurement data based on the determined motion state, and providing an image data set for displaying the instrument on the display device based at least on the filtered position measurement data is configured to display the instrument on the display device.
  • Fig. 3 illustrates a concept of implementing an adaptive threshold. Accordingly, a latch 103 is first provided which is required to maintain a waveform for subsequent statistical analysis. It stores an input 102 current measured values such as position or position data, p (k) and n previous measured values. Furthermore, the current plausibility value d (k) is supplied to the input.
  • a latch 103 is first provided which is required to maintain a waveform for subsequent statistical analysis. It stores an input 102 current measured values such as position or position data, p (k) and n previous measured values. Furthermore, the current plausibility value d (k) is supplied to the input.
  • a fault classifier 105 deduces from the stored signals the nature of the fault. A distinction is made between external interference and self-interference. No identifiable disturbances are also classified as self-disturbances.
  • a motion classifier 111 excludes from the signal the current state of motion of the instrument.
  • the waveforms for the individual states were previously analyzed and criteria for the classification were worked out, as will be shown below. These criteria can be used to classify at runtime.
  • the movement states Positioning 117, Moving 115 and Rotating 113 are defined. Table 2 details these conditions.
  • the threshold is continuously adjusted to the current state of motion.
  • the adaptive threshold filter allows, in the event that no external interference is detected, a display of navigation information at higher dynamics of the instrument. At the same time, the safety concept is not violated.
  • the Fig. 4 illustrates an advanced filter concept.
  • the above-described treatment of dynamic errors was aimed exclusively at filtering out, that is, rejecting erroneous measured values.
  • the filter concept should again be extended by a component that corrects dynamic errors caused by self-interference.
  • the filter 101 ' provides a corrected measured value p' (k) at the output 136 for each measured value, that is to say for measured position and / or position data p (k) at the input 112.
  • Fig. 4 illustrates the operation of the filter to be designed.
  • the blocks 131, 133 and 135 are integrated into the existing filter design between the latch and the actual signal path.
  • the preprocessing may work in parallel with the classification of the threshold filter.
  • the signal conditioning component 135, which manipulates the position measurement data, is arranged in the signal path 124 behind the threshold filter 121.
  • the data rate in the signal path is not changed by the filter concept. This means that the processing of the signals can be performed in one measurement cycle.
  • the added individual function blocks of the extended filter are a data preparation 131 which uses the stored signal data to generate further signals therefrom, for example speed, correlation and / or variance.
  • a model comparison 133 the waveforms can be analyzed and compared with the specifications of a model. From this, parameters for the signal conditioning component 135 are derived.
  • the signal conditioning 135 manipulates the currently measured and filtered Position readings p (k).
  • the value p '(k) present at the output 136 is thus a function of p (k) as well as at least of the determined state of motion.
  • the motion classifier 111 evaluates the stored waveforms with respect to the state of disturbance and movement of the instrument. For this purpose, suitable criteria for a classification were previously found in an investigation. In the study, waveforms of the instrument operating point gradients were recorded as a function of the different position sensor data. For this purpose, in each case a specific movement, such as translation, rotation or positioning was performed. The waveforms were analyzed for distinct characteristics. For signal analysis, three quantities were introduced to characterize the signals: First, the correlation coefficient was introduced, which describes the correlation between the two instrument operating point signals for the stored measurements. Next, the memory variance was used, which is a measure of the dispersion of the stored measured values. Finally, an instant variance was used, which is a measure of the dispersion of the last three measured values. This signal follows rapid changes faster than the memory variance. The variance was introduced because the variance is higher in a movement than in a still, ie positioned, instrument.
  • Criterion 1 the correlation coefficients of all degrees of freedom (x, y, z) are less than an experimentally determined value
  • Criterion 2 the correlation coefficients of 2 degrees of freedom are negative
  • criterion 3 the instant variances of all degrees of freedom are smaller than an experimentally found value.
  • a fault condition caused by a foreign body is present if one of the following criteria is met: Criterion 5: The memory variances of all degrees of freedom are smaller than an experimentally determined value; or criterion 6: The correlation coefficients of exactly two degrees of freedom are smaller than an experimentally determined value and the remaining degree of freedom has a correlation coefficient smaller than a negative experimentally determined value.
  • the three quantities correlation coefficient, instant variance and memory variance are calculated for each measurement cycle k by means of the motion classifier 111 from the signal store for the degrees of freedom of both position measurements.
  • the Fig. 5 illustrates an algorithm for classification, that is, for determining a state of motion, on the basis of the criteria defined above.
  • the criteria are successively checked and decisions made.
  • the algorithm provides a motion state used for the parameterization of the threshold filter.
  • the classification algorithm 201 shown checks the individual criteria defined above and finally determines a state of motion of the instrument.
  • the algorithm examines criterion 6, and branches to 209. In the event that criterion 6 is not met, the algorithm continues in 211. In the event that the criterion 6 is met, the algorithm ends in 230 and determines the state of motion as a fault state. In 211, the algorithm tests criterion 1 and branches to 213. In the event that criterion 1 is not met, the algorithm continues in 215. In the event that criterion 1 is met, the algorithm continues in 223. In 215, the algorithm examines criterion 2, and branches to 217. In the event that criterion 2 is not met, the algorithm continues in 219. In the event that criterion 2 is met, the algorithm continues in 223.
  • Each of the determined states of motion ie fault state, positioning, rotation and translation, is assigned a threshold value.
  • a threshold value filter decides whether the current plausibility value d exceeds or falls below one of the parameterized threshold values. In the event that the determined threshold is exceeded, the associated measured value is rejected, that is, it is not output in 124 and is therefore not available for a representation of the instrument on the display device. In the event that the plausibility value is less than the parameterized threshold value of 119, the current position value in 121 is passed to 124.
  • the assignment of a motion state from the motion classifier to a threshold value is referred to as parameterization, which is stored as a table for each motion state. To create the table, the individual threshold values were determined experimentally for the instrument.
  • the last component in the signal path is the visualization of the position data, ie a representation of the instrument on a display device.
  • the corrected and filtered data is transformed into an image data coordinate system and displayed.
  • the visualization includes the following additional features: 1. Error estimation: The measurement uncertainty resulting from registration and measurement errors is estimated. As a measure of the registration uncertainty, a quality value from the registration algorithm is used. The value indicates the maximum deviation of the points registered to each other. This value is used in a simplified way regardless of direction. The plausibility value d serves as a measure of faulty position measured values. This is calculated in each measuring cycle k. 2. Visualization of the measurement uncertainty: The estimated measurement uncertainty is visualized as a space around the displayed position of the instrument operating point in the form of a sphere.
  • FIG. 3 illustrates a representation of an instrument on a patient's face, showing a current measurement uncertainty in the form of a circle 19.
  • FIG. 6b the same situation is shown in a section in a plan view.
  • signal conditioning corrects the position measurement signal at runtime based on a given model.
  • the filter aims at the correction of dynamic errors, which are caused by the proper movement of the instrument, ie dynamic effects.
  • dynamic effects ie dynamic effects.
  • the dynamic effect of rotating the instrument has already been discussed.
  • the translation of the instrument has a dynamic effect.
  • the measurement noise of the position signal This is caused by internal signal preprocessing in the measurement system, which performs a moving averaging at low velocities, smoothing the signal. During motion, averaging is suspended to accommodate the increased dynamics. However, the signal is more noisy in this case.
  • the Kalman filter is a common method for estimating movements from noisy signals. To put it simply, the Kalman filter compares the current motion variables, ie location, velocity and acceleration, with the motion model or the equation of motion stored in the filter. The Kalman filter was examined for the critical movement of the instrument's rotation on a single point. At this state of motion, a higher accuracy requirement is made, as to the state of motion of the translation. It has been found that the Kalman filter is not useful for the state of motion of the rotation.
  • An endoscopy system 301 is illustrated that is independent of the method, system, computer program product, computer program and data carrier described above but is able to cooperate effectively with the above-described method, system, computer program product, computer program and data carrier.
  • the endoscopy system 301 comprises at least one monitor 310 and at least one navigation module 321 and is easily transportable by means of rollers or wheels 303.
  • the endoscopy system 301 is configured to provide at least synchronized video and navigation information on the monitor, such as an endoscopy monitor.
  • the endoscopy system 301 is configured to display on the monitor 310 a video and navigation information synchronized based on the method described above.
  • the synchronization includes, for example, updating the sphere, as described above, around the instrument operating point, based on the plausibility value and the acquired position measurement data, to illustrate a measurement uncertainty.
  • the update of the representation can be based, for example, on an update of the image data set displayed in each case.
  • Reference numerals 323 and 325 designate further standard modules provided on the endoscopy tower.
  • FIG. 3 illustrates an exemplary representation of endoscopy information on an endoscopy monitor 310.
  • the monitor 310 divided into four partial views by means of suitable monitor control represents a sagittal view in a partial view 311, a coronal view in a partial view 313 and an axial section through a head of a patient in partial view 317
  • a partial view 315 for example, synchronized video and / or navigation information can be displayed. This information may, for example, have been calculated and / or processed according to the method described above.
  • a documentation and treatment module for navigation in medicine is provided by means of the described endoscopy system 301.
  • the system for documentation and execution of navigated interventions consists at least of a navigation module 321, which may be provided as an additional component of a conventional video endoscopy tower.
  • the system preferably comprises at least one monitor.
  • this system is not configured as an additional mobile or stationary system but integrated into the video endoscopy tower.
  • the recorded video data may be recorded for documentation purposes along with navigation data that is, for example, synchronized as described above.
  • the module preferably comprises interfaces for optical and / or magnetic navigation sensors.
  • this system is not required to make inputs to the system.
  • At least one electromagnetic navigation sensor may be mounted in a fixed orientation on an operating table and connected to the navigation module 321 such that the sensor data of the electromagnetic navigation sensor from the navigation module 321 can be read out and evaluated and then displayed on the monitor.
  • At least one optical navigation sensor can be attached to a self-retaining ball joint and aligned with one hand of an operator.
  • the optical navigation sensor can be designed, for example, as a camera.
  • the optical navigation sensor may be connected to the navigation module 321 such that the sensor data of the electromagnetic navigation sensor can be read out and evaluated by the navigation module 321 and subsequently displayed on the monitor.
  • the system is configured such that the navigation information and the video information can be split and displayed on two monitors.
  • the navigation module communicates via a wireless connection with the navigation sensor.
  • a connection could, for example, be provided via a Bluetooth protocol.
  • the navigation module obtains patient image data via a wireless connection.
  • a WLAN in the building could be used to access a patient database of a central server.
  • the presented system may suitably provide one or more of the following advantages:
  • the navigation system may be provided as a module for an endoscopy tower, so that handleability is improved.
  • the navigation system can be fully integrated in the modular endoscopy tower. Furthermore, it can provide compatible interfaces to other common endoscopy modules.
  • a clinical workflow is significantly improved because no additional device is required.
  • the optical navigation sensor which is designed for example as a camera, can be positioned separately from the endoscopy tower on a tripod.
  • the camera interface is configured to support all popular navigation cameras.
  • the navigation system is configured such that it can perform a video insertion, that is, that various specific image data are displayed in a superimposed manner, for example, on a screen area, so that an operator is able, for example, to capture real image data and evaluated and evaluated sensor data simultaneously and spatially to be able to perform an improved navigation of the instrument during the work in this way.
  • the system described is able to document video data and tomographic data, for example, to provide the data as instantaneous still image data or as data streams with a time stamp and store it.

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Claims (14)

  1. Procédé de génération de données d'images pour une représentation d'un instrument sur un dispositif d'affichage, le procédé comprenant les étapes suivantes :
    - relevé de données de mesure de position d'au moins deux capteurs de position disposées sur l'instrument,
    - détermination d'un état de mouvement de l'instrument sur la base des données de mesure de position relevées,
    - filtrage des données de mesure de position relevées sur la base de l'état de mouvement déterminé et
    - mise à disposition d'un jeu de données d'images pour une représentation de l'instrument sur le dispositif d'affichage au moins sur la base des données de mesure de position filtrées, qui est conçu pour représenter l'instrument sur le dispositif d'affichage,
    - chacun des capteurs de position disposés sur l'instrument étant conçu pour générer des données de mesure de position, à partir desquelles un point de travail de l'instrument est déterminé par un dispositif de traitement de données, la valeur de la distance entre les deux points de travail de l'instrument déterminés étant désignée comme une valeur de plausibilité et
    - le point de travail de l'instrument est muni, par le dispositif de traitement de données, pour la représentation sur le dispositif d'affichage, d'un cercle d'une sphère dont le rayon correspond à la valeur de plausibilité.
  2. Procédé selon la revendication 1, caractérisé en ce que les données de mesure de position relevées sont constituées, sur la base d'au moins une mesure de position actuelle, des données de mesure de position actuellement relevées.
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce que les données de mesure de position sont relevées au moyen de plusieurs mesures de position.
  4. Procédé selon au moins l'une des revendications précédentes, avec référence à la revendication 2, caractérisé en ce que l'état de mouvement de l'instrument est déterminé sur la base des données de mesure de position actuellement relevées et des données de mesure de position relevées dans le passé.
  5. Procédé selon au moins l'une des revendications précédentes, caractérisé en ce qu'à chaque état de mouvement correspond une valeur seuil de plausibilité.
  6. Procédé selon la revendication 1 et la revendication 5, caractérisé en ce que le filtrage des données de mesure de position relevées comprend une étape de comparaison de la valeur de plausibilité et de la valeur seuil de plausibilité.
  7. Procédé selon la revendication 6, caractérisé en ce que le filtrage des données de mesure de position relevées comprend une étape d'acceptation des données de mesure de position relevées pour le cas où la valeur de plausibilité est inférieure ou égale à la valeur seuil de plausibilité et une étape de rejet des données de mesure de position pour le cas où la valeur de plausibilité est supérieure à la valeur seuil de plausibilité.
  8. Procédé selon la revendication 1 ou 2, caractérisé en ce que le jeu de données d'images est formé au moins sur la base des données de mesure de position actuellement relevées et de la valeur de plausibilité.
  9. Procédé selon au moins l'une des revendications précédentes, avec référence à la revendication 4, caractérisé en ce que, sur la base des données de mesure de position relevées et de la valeur de plausibilité, il est déterminé si une perturbation interne et/ou une perturbation externe existe.
  10. Procédé selon la revendication 9, caractérisé en ce que la perturbation externe est déterminée sur la base de la valeur de plausibilité et la perturbation interne est déterminée sur la base des données de mesure de position relevées.
  11. Système pour la représentation d'un instrument (1), avec :
    - au moins deux capteurs de position (7, 9) disposés sur l'instrument (1), qui sont conçus pour relever les données de mesure de position pour l'instrument (1),
    - un dispositif d'affichage (310) et
    - un dispositif de traitement de données qui est relié avec les au moins deux capteurs de position (7, 9) et le dispositif d'affichage (310) et conçu pour générer un jeu de données d'images pour une représentation de l'instrument (1) sur le dispositif d'affichage (310),
    - chacun des capteurs de position (7, 9) disposés sur l'instrument (1) étant conçu pour générer des données de mesure de position, à partir desquelles un point de travail de l'instrument est déterminé par le dispositif de traitement de données, la valeur de la distance entre les deux points de travail de l'instrument déterminés étant désignée comme une valeur de plausibilité et
    - le dispositif de traitement de données est en outre conçu de façon à ce que, pour la représentation sur le dispositif d'affichage (310), le point de travail de l'instrument est muni d'un cercle d'une sphère dont le diamètre correspond à la valeur de plausibilité.
  12. Système selon la revendication 11, caractérisé en ce que, sur l'instrument, sont disposés plusieurs capteurs de position, au moins un capteur de position étant disposé au niveau d'une extrémité distale et au moins un autre capteur étant disposé au niveau d'une extrémité proximale de l'instrument.
  13. Système selon la revendication 11 ou 12, caractérisé en ce qu'une bobine de champ est prévue pour la génération d'un champ et les au moins deux capteurs de position sont conçus comme des capteurs de position électromagnétiques, qui réagissent au champ.
  14. Produit de programme informatique qui comprend des moyens logiciels pour la réalisation d'un procédé selon l'une des revendications 1 à 10 lorsque le procédé est effectué de manière automatisée dans un système selon l'une des revendications 11 à 13, pour la représentation d'un instrument.
EP09798871.1A 2008-11-17 2009-11-17 Procédé de production de données d'image pour une représentation d'un instrument, ainsi que système correspondant Active EP2373246B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008057744A DE102008057744A1 (de) 2008-11-17 2008-11-17 Verfahren zum Erzeugen von Bilddaten für eine Darstellung eines Instrumentes
PCT/DE2009/001610 WO2010054646A2 (fr) 2008-11-17 2009-11-17 Procédé de production de données d'image pour une représentation d'un instrument, ainsi que système correspondant

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EP2373246B1 true EP2373246B1 (fr) 2016-07-13

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Publication number Priority date Publication date Assignee Title
DE102009030731A1 (de) * 2009-06-26 2010-12-30 Fiagon Gmbh Verfahren zum Erzeugen von Positionsdaten eines Instrumentes
DE102010027535A1 (de) * 2010-07-16 2012-01-19 Fiagon Gmbh Verfahren zur Überprüfung von Positionsdaten eines Instrumentes
DE102013222230A1 (de) 2013-10-31 2015-04-30 Fiagon Gmbh Chirurgisches Instrument
EP3719749A1 (fr) 2019-04-03 2020-10-07 Fiagon AG Medical Technologies Procédé et configuration d'enregistrement

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996008209A2 (fr) * 1994-09-15 1996-03-21 Visualization Technology, Inc. Systeme d'imagerie et de recherche de position a l'aide d'une unite de reference fixee sur la tete d'un patient, destine a des applications medicales
DE20115254U1 (de) * 2001-09-15 2001-12-13 Aesculap Ag & Co Kg Vorrichtung zur Prüfung eines Markierungselementes auf Verrückung
DE102004042489B4 (de) * 2004-08-31 2012-03-29 Siemens Ag Medizinische Untersuchungs- oder Behandlungseinrichtung mit dazugehörigem Verfahren
US7805269B2 (en) * 2004-11-12 2010-09-28 Philips Electronics Ltd Device and method for ensuring the accuracy of a tracking device in a volume

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EP2373246A2 (fr) 2011-10-12
WO2010054646A2 (fr) 2010-05-20
DE102008057744A1 (de) 2010-05-20

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